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WO2008045827A3 - Système chirurgical robotique à caractéristique de détection de contact - Google Patents

Système chirurgical robotique à caractéristique de détection de contact Download PDF

Info

Publication number
WO2008045827A3
WO2008045827A3 PCT/US2007/080701 US2007080701W WO2008045827A3 WO 2008045827 A3 WO2008045827 A3 WO 2008045827A3 US 2007080701 W US2007080701 W US 2007080701W WO 2008045827 A3 WO2008045827 A3 WO 2008045827A3
Authority
WO
WIPO (PCT)
Prior art keywords
change
probe
parameter
surgical system
robotic surgical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2007/080701
Other languages
English (en)
Other versions
WO2008045827A2 (fr
Inventor
John A Hauck
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
St Jude Medical Atrial Fibrillation Division Inc
Original Assignee
St Jude Medical Atrial Fibrillation Division Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by St Jude Medical Atrial Fibrillation Division Inc filed Critical St Jude Medical Atrial Fibrillation Division Inc
Publication of WO2008045827A2 publication Critical patent/WO2008045827A2/fr
Publication of WO2008045827A3 publication Critical patent/WO2008045827A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6885—Monitoring or controlling sensor contact pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A61B2017/00026—Conductivity or impedance, e.g. of tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • A61B2090/3784—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument both receiver and transmitter being in the instrument or receiver being also transmitter
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

L'invention concerne un procédé permettant de surveiller le contact entre une sonde (12) et la surface d'un tissu (82), selon laquelle il est prévu de placer la sonde (12) à proximité de la surface (82), de déplacer ladite sonde (12) par voie robotique, de mesurer un paramètre tissulaire à l'extrémité distale de la sonde (12), de calculer l'importance de la variation du paramètre tissulaire mesuré entre les mesures effectuées dessus, et d'indiquer une variation à proximité ou un degré de contact entre la sonde (12) et la surface (82), sur la base de l'importance de la variation. L'indication de la variation peut se fonder directement sur l'importance calculée de la variation du paramètre mesuré ou sur un taux calculé de variation du paramètre.
PCT/US2007/080701 2006-10-12 2007-10-08 Système chirurgical robotique à caractéristique de détection de contact Ceased WO2008045827A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US85104206P 2006-10-12 2006-10-12
US60/851,042 2006-10-12
US11/647,272 2006-12-29
US11/647,272 US10863945B2 (en) 2004-05-28 2006-12-29 Robotic surgical system with contact sensing feature

Publications (2)

Publication Number Publication Date
WO2008045827A2 WO2008045827A2 (fr) 2008-04-17
WO2008045827A3 true WO2008045827A3 (fr) 2008-06-12

Family

ID=39283547

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2007/080701 Ceased WO2008045827A2 (fr) 2006-10-12 2007-10-08 Système chirurgical robotique à caractéristique de détection de contact

Country Status (2)

Country Link
US (1) US10863945B2 (fr)
WO (1) WO2008045827A2 (fr)

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US7894871B2 (en) * 2006-12-29 2011-02-22 St. Jude Medical, Atrial Fibrillation Division, Inc. Filtering method for surface modeling
US9549689B2 (en) 2007-03-09 2017-01-24 St. Jude Medical, Atrial Fibrillation Division, Inc. System and method for correction of inhomogeneous fields
US10433929B2 (en) * 2007-03-09 2019-10-08 St. Jude Medical, Atrial Fibrillation Division, Inc. System and method for local deformable registration of a catheter navigation system to image data or a model
WO2009092164A1 (fr) * 2008-01-25 2009-07-30 Mcmaster University Guidage chirurgical utilisant la rétroaction tissulaire
US8083691B2 (en) * 2008-11-12 2011-12-27 Hansen Medical, Inc. Apparatus and method for sensing force
US9307931B2 (en) * 2008-12-31 2016-04-12 St. Jude Medical, Atrial Fibrillation Division, Inc. Multiple shell construction to emulate chamber contraction with a mapping system
JP5693471B2 (ja) 2009-02-11 2015-04-01 ボストン サイエンティフィック サイムド，インコーポレイテッドＢｏｓｔｏｎ Ｓｃｉｅｎｔｉｆｉｃ Ｓｃｉｍｅｄ，Ｉｎｃ． 絶縁された切除カテーテルデバイスおよびその使用法
EP2503951B1 (fr) 2009-11-27 2025-01-01 Centre for Surgical Invention & Innovation Diagnostic robotique automatisé guidé par résonance magnétique dans un alésage et système thérapeutique
WO2012033530A2 (fr) * 2010-09-08 2012-03-15 University Of Houston Dispositifs, systèmes et procédés pour biodétection et imagerie multimodes
US10918307B2 (en) 2011-09-13 2021-02-16 St. Jude Medical, Atrial Fibrillation Division, Inc. Catheter navigation using impedance and magnetic field measurements
US9901303B2 (en) 2011-04-14 2018-02-27 St. Jude Medical, Atrial Fibrillation Division, Inc. System and method for registration of multiple navigation systems to a common coordinate frame
US10362963B2 (en) 2011-04-14 2019-07-30 St. Jude Medical, Atrial Fibrillation Division, Inc. Correction of shift and drift in impedance-based medical device navigation using magnetic field information
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CN103917185A (zh) 2011-09-14 2014-07-09 波士顿科学西美德公司 带有离子导电性球囊的消融装置
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CN106999080B (zh) 2014-12-18 2020-08-18 波士顿科学医学有限公司 针对病变评估的实时形态分析
CN109069840B (zh) 2016-02-04 2022-03-15 心脏起搏器股份公司 具有用于无引线心脏装置的力传感器的递送系统
CN107106244B (zh) * 2017-04-01 2020-06-12 中国科学院深圳先进技术研究院 血管介入手术机器人的导管捻旋装置
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